Public Types
enum	SegLabels { MOVING, ARM, TABLE, BG }
Public Member Functions
cv::Mat	convertFlowResultsToCvMat (GraphType *g, int R, int C)
cv::Mat	convertFlowResultsToCvMat (GraphType *g, int R, int C, cv::Rect roi, cv::Size out_size)
float	getArmFGScore (cv::Mat &color_frame, cv::Mat &depth_frame, int r, int c, std::vector< cv::Vec3f > &arm_stats, std::vector< cv::Vec3f > &hand_stats, ArmModel &arms, cv::Rect &roi)
float	getEdgeWeight (cv::Vec3f c0, float d0, cv::Vec3f c1, float d1)
float	getFlowFGScore (float magnitude)
std::vector< cv::Vec3f >	getImagePointGaussian (cv::Mat &color_frame, std::vector< cv::Point > points, int min_x=0, int min_y=0)
float	getTableScore (cv::Vec3f cur_c, float height_from_table)
	MotionGraphcut (double workspace_background_weight=1.0f, double min_weight=0.01, double magnitude_thresh=0.1, double flow_gain=0.3, int arm_grow_radius=2)
cv::Mat	operator() (cv::Mat &color_frame, cv::Mat &depth_frame, cv::Mat &u, cv::Mat &v, cv::Mat &workspace_mask, cv::Mat &table_heights, ArmModel arm_locs)
cv::Mat	segmentRobotArm (cv::Mat &color_frame_in, cv::Mat &depth_frame_in, cv::Mat &workspace_mask_in, ArmModel &arms, int min_arm_x, int max_arm_x, int min_arm_y, int max_arm_y)
void	setTableColorStats (cv::Mat &color_frame, std::vector< cv::Point > &pts)
virtual	~MotionGraphcut ()
Public Attributes
double	arm_alpha_
double	arm_beta_
double	arm_color_var_add_
double	arm_dist_var_
int	arm_grow_radius_
int	arm_search_radius_
double	flow_gain_
double	magnitude_thresh_
double	min_weight_
double	table_height_var_
std::vector< cv::Vec3f >	table_stats_
double	w_c_alpha_
double	w_c_beta_
double	w_c_gamma_
double	workspace_background_weight_

Detailed Description

Definition at line 160 of file motion_graphcut.cpp.

Member Enumeration Documentation

enum MotionGraphcut::SegLabels

Enumerator:

MOVING
ARM
TABLE
BG

Definition at line 670 of file motion_graphcut.cpp.

Constructor & Destructor Documentation

MotionGraphcut::MotionGraphcut	(	double	workspace_background_weight = `1.0f`,
		double	min_weight = `0.01`,
		double	magnitude_thresh = `0.1`,
		double	flow_gain = `0.3`,
		int	arm_grow_radius = `2`
	)		`[inline]`

Definition at line 163 of file motion_graphcut.cpp.

virtual MotionGraphcut::~MotionGraphcut ( ) [inline, virtual]

Definition at line 172 of file motion_graphcut.cpp.

Member Function Documentation

cv::Mat MotionGraphcut::convertFlowResultsToCvMat	(	GraphType *	g,
		int	R,
		int	C
	)		`[inline]`

Definition at line 631 of file motion_graphcut.cpp.

cv::Mat MotionGraphcut::convertFlowResultsToCvMat	(	GraphType *	g,
		int	R,
		int	C,
		cv::Rect	roi,
		cv::Size	out_size
	)		`[inline]`

Definition at line 646 of file motion_graphcut.cpp.

float MotionGraphcut::getArmFGScore	(	cv::Mat &	color_frame,
		cv::Mat &	depth_frame,
		int	r,
		int	c,
		std::vector< cv::Vec3f > &	arm_stats,
		std::vector< cv::Vec3f > &	hand_stats,
		ArmModel &	arms,
		cv::Rect &	roi
	)		`[inline]`

Definition at line 526 of file motion_graphcut.cpp.

float MotionGraphcut::getEdgeWeight	(	cv::Vec3f	c0,
		float	d0,
		cv::Vec3f	c1,
		float	d1
	)		`[inline]`

Definition at line 661 of file motion_graphcut.cpp.

float MotionGraphcut::getFlowFGScore ( float magnitude ) [inline]

Definition at line 501 of file motion_graphcut.cpp.

std::vector<cv::Vec3f> MotionGraphcut::getImagePointGaussian	(	cv::Mat &	color_frame,
		std::vector< cv::Point >	points,
		int	min_x = `0`,
		int	min_y = `0`
	)		`[inline]`

Definition at line 559 of file motion_graphcut.cpp.

float MotionGraphcut::getTableScore	(	cv::Vec3f	cur_c,
		float	height_from_table
	)		`[inline]`

Definition at line 506 of file motion_graphcut.cpp.

cv::Mat MotionGraphcut::operator()	(	cv::Mat &	color_frame,
		cv::Mat &	depth_frame,
		cv::Mat &	u,
		cv::Mat &	v,
		cv::Mat &	workspace_mask,
		cv::Mat &	table_heights,
		ArmModel	arm_locs
	)		`[inline]`

Segment moving stuff from static stuff using graphcut

Parameters:

color_frame	The current color image to segment
depth_frame	The current depth image to segment
u	Flow dx/dt
v	Flow dy/dt
eigen_scores	Scores corresponding to texture at the point
workspace_mask	Binary image where white is valid locations for things to be moving at
arm_locs	Image locations of projected arm kinematics

Returns:: A binary image where white is the foreground (moving) regions and black is the background (static) regions

Definition at line 191 of file motion_graphcut.cpp.

cv::Mat MotionGraphcut::segmentRobotArm	(	cv::Mat &	color_frame_in,
		cv::Mat &	depth_frame_in,
		cv::Mat &	workspace_mask_in,
		ArmModel &	arms,
		int	min_arm_x,
		int	max_arm_x,
		int	min_arm_y,
		int	max_arm_y
	)		`[inline]`

Method to segment the arm from the rest of the stuff moving in the scene

Parameters:

color_frame	Current color frame
depth_frame	Current depth frame
moving_mask	Binary image representing where the moving stuff is
workspace_mask	Binary image where white is valid locations for things to be moving at
arms	Position of the arm projected into the image frame